Is there a way to watch live sports on TV without cable/satellite?

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I presently have satellite for TV-watching, the reason being, particularly, to see live sports events, such as tennis, golf, football, and baseball. Of course, it's extremely expensive. I would love to take the advice that I read on this site from those of you who recommend antennas and Apple TV, but, I wonder, is there a way to watch live sports!

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